JP5747087B2 - 建設機械のエネルギー再生システム - Google Patents
建設機械のエネルギー再生システム Download PDFInfo
- Publication number
- JP5747087B2 JP5747087B2 JP2013547270A JP2013547270A JP5747087B2 JP 5747087 B2 JP5747087 B2 JP 5747087B2 JP 2013547270 A JP2013547270 A JP 2013547270A JP 2013547270 A JP2013547270 A JP 2013547270A JP 5747087 B2 JP5747087 B2 JP 5747087B2
- Authority
- JP
- Japan
- Prior art keywords
- boom
- arm
- cylinder
- flow path
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
- F15B11/205—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members the position of the actuator controlling the fluid flow to the subsequent actuator
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
- F15B2211/3133—Regenerative position connecting the working ports or connecting the working ports to the pump, e.g. for high-speed approach stroke
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
- F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/85—Control during special operating conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2010/009354 WO2012091184A1 (ko) | 2010-12-27 | 2010-12-27 | 건설기계의 에너지 재생 시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014502709A JP2014502709A (ja) | 2014-02-03 |
JP5747087B2 true JP5747087B2 (ja) | 2015-07-08 |
Family
ID=46383247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013547270A Active JP5747087B2 (ja) | 2010-12-27 | 2010-12-27 | 建設機械のエネルギー再生システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20130269332A1 (de) |
EP (1) | EP2660481B1 (de) |
JP (1) | JP5747087B2 (de) |
KR (1) | KR20140010368A (de) |
CN (1) | CN103270318B (de) |
WO (1) | WO2012091184A1 (de) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20140050031A (ko) | 2011-08-09 | 2014-04-28 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계의 압력 제어시스템 |
US9187879B2 (en) | 2012-01-02 | 2015-11-17 | Volvo Construction Equipment Ab | Method for controlling operation of dump for construction machinery |
JP5928065B2 (ja) * | 2012-03-27 | 2016-06-01 | コベルコ建機株式会社 | 制御装置及びこれを備えた建設機械 |
DE112012006316B4 (de) | 2012-06-04 | 2023-07-06 | Volvo Construction Equipment Ab | Antriebssteuerverfahren für eine Baumaschine |
DE112013006501T5 (de) | 2013-01-24 | 2016-03-31 | Volvo Construction Equipment Ab | Vorrichtung und Verfahren zum Steuern einer Flussrate bei Baumaschinen |
CN104709834B (zh) * | 2013-12-11 | 2017-08-04 | 北汽福田汽车股份有限公司 | 回转调速控制系统和起重机 |
CN105940356A (zh) * | 2014-01-27 | 2016-09-14 | 沃尔沃建造设备有限公司 | 用于控制工程机械的再生流量的装置及其控制方法 |
CN104005435B (zh) * | 2014-06-06 | 2016-12-07 | 山东中川液压有限公司 | 一种高效节能环保油液混合动力挖掘机 |
CN105221504B (zh) * | 2014-06-23 | 2019-06-04 | 胡斯可国际股份有限公司 | 再生失活(regeneration deactivation)阀和方法 |
CN104481947A (zh) * | 2014-12-08 | 2015-04-01 | 西南铝业(集团)有限责任公司 | 倾翻炉共用液压控制系统 |
JP6473631B2 (ja) * | 2015-02-12 | 2019-02-20 | 株式会社神戸製鋼所 | 建設機械の油圧制御装置 |
WO2016195134A1 (ko) * | 2015-06-03 | 2016-12-08 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계용 유압회로 |
JP3199844U (ja) * | 2015-07-01 | 2015-09-10 | マリンハイドロテック株式会社 | 船舶の油圧監視装置 |
US10183852B2 (en) * | 2015-07-30 | 2019-01-22 | Danfoss Power Solutions Gmbh & Co Ohg | Load dependent electronic valve actuator regulation and pressure compensation |
US10443628B2 (en) * | 2016-10-26 | 2019-10-15 | Deere & Company | Boom control with integrated variable return metering |
EP3581716B1 (de) * | 2017-12-26 | 2022-12-14 | Hitachi Construction Machinery Co., Ltd. | Arbeitsmaschine |
JP7222595B2 (ja) * | 2019-08-09 | 2023-02-15 | キャタピラー エス エー アール エル | 油圧制御システム |
CN110541447A (zh) * | 2019-09-06 | 2019-12-06 | 上海三一重机股份有限公司 | 动臂下降回油再用控制装置、方法和挖掘机 |
CN112555207A (zh) * | 2020-12-01 | 2021-03-26 | 上海华兴数字科技有限公司 | 液压控制系统和机械设备 |
EP4230809A1 (de) * | 2022-02-17 | 2023-08-23 | Robert Bosch GmbH | Hydraulisches steuerungssystem für eine maschine, maschine und verfahren zum steuern von ausleger- und anbauteilbewegungen einer maschine |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3458434B2 (ja) * | 1993-12-28 | 2003-10-20 | コベルコ建機株式会社 | 作業機械の油圧装置 |
JP3594680B2 (ja) * | 1995-02-13 | 2004-12-02 | 日立建機株式会社 | 油圧機械の油圧再生装置 |
JP3572118B2 (ja) * | 1995-06-14 | 2004-09-29 | 日立建機株式会社 | 建設機械の制御回路 |
JP2001027204A (ja) * | 1999-07-12 | 2001-01-30 | Nippon Sharyo Seizo Kaisha Ltd | 油圧装置 |
JP2001304202A (ja) * | 2000-04-21 | 2001-10-31 | Shin Caterpillar Mitsubishi Ltd | 流体圧回路 |
JP2002021810A (ja) * | 2000-07-03 | 2002-01-23 | Tcm Corp | 油圧駆動装置 |
US6502393B1 (en) * | 2000-09-08 | 2003-01-07 | Husco International, Inc. | Hydraulic system with cross function regeneration |
US6647718B2 (en) * | 2001-10-04 | 2003-11-18 | Husco International, Inc. | Electronically controlled hydraulic system for lowering a boom in an emergency |
JP3816893B2 (ja) * | 2003-04-17 | 2006-08-30 | 日立建機株式会社 | 油圧駆動装置 |
KR100884870B1 (ko) * | 2004-04-16 | 2009-02-23 | 현대중공업 주식회사 | 굴삭기용 콘트롤 밸브의 가변우선 시스템 |
US7444809B2 (en) * | 2006-01-30 | 2008-11-04 | Caterpillar Inc. | Hydraulic regeneration system |
US7905088B2 (en) * | 2006-11-14 | 2011-03-15 | Incova Technologies, Inc. | Energy recovery and reuse techniques for a hydraulic system |
KR100906228B1 (ko) * | 2007-03-30 | 2009-07-07 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 건설중장비용 유압회로 |
KR101470626B1 (ko) * | 2007-12-27 | 2014-12-09 | 두산인프라코어 주식회사 | 건설장비의 전자유압 시스템 |
EP2329155B1 (de) * | 2008-09-11 | 2013-05-29 | Parker-Hannifin Corporation | Verfahren zur steuerung eines elektrohydraulischen betätigungssystems mit mehreren funktionen |
US20100122528A1 (en) * | 2008-11-19 | 2010-05-20 | Beschorner Matthew J | Hydraulic system having regeneration and supplemental flow |
JP5296570B2 (ja) * | 2009-02-16 | 2013-09-25 | 株式会社神戸製鋼所 | 作業機械の油圧制御装置及びこれを備えた作業機械 |
-
2010
- 2010-12-27 US US13/996,797 patent/US20130269332A1/en not_active Abandoned
- 2010-12-27 CN CN201080070912.6A patent/CN103270318B/zh active Active
- 2010-12-27 WO PCT/KR2010/009354 patent/WO2012091184A1/ko active Application Filing
- 2010-12-27 JP JP2013547270A patent/JP5747087B2/ja active Active
- 2010-12-27 EP EP10861510.5A patent/EP2660481B1/de active Active
- 2010-12-27 KR KR1020137016260A patent/KR20140010368A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
WO2012091184A1 (ko) | 2012-07-05 |
EP2660481B1 (de) | 2017-02-01 |
KR20140010368A (ko) | 2014-01-24 |
US20130269332A1 (en) | 2013-10-17 |
EP2660481A1 (de) | 2013-11-06 |
JP2014502709A (ja) | 2014-02-03 |
CN103270318A (zh) | 2013-08-28 |
EP2660481A4 (de) | 2014-12-03 |
CN103270318B (zh) | 2015-08-19 |
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